color and depth frame align too slow on rk3588

[westpilgrim63]

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Required Info
Camera Model	{ D435i }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{Win (11) / Android
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	PC/RK3588
SDK Version	2.0 }
Language	{C/java }
Segment	{Robot/Smartphone/VR/AR/others }

Issue Description

i tried to align color and depth frame using data = align_to.process(data); ,on pc,it's 10 ms,but on rk3588,the same command using about 300 ms ,it's too slow to use in real scene. is there any solution for this?

[westpilgrim63]

#11758
i found a solution ,using rs2_project_color_pixel_to_depth_pixel to align single pixel

[MartyG-RealSense]

Thanks very much @westpilgrim63 for the update. It's great to hear that you found a solution that works for you!

[sun-xm]

The problem has not really been solved. Same issue on rk3399. Sdk version 2.50.

[MartyG-RealSense]

Hi @sun-xm Depth-color alignment is processed on the CPU of the computer / computing device and not on the camera hardware. So alignment performance will be partly dependent on the strength of the hardware specification of the RK3399 device.

If programming in C++ language then it is possible to accelerate performance by offloading processing work from the CPU onto the graphics GPU of a device using the RealSense SDK's GLSL Processing Blocks feature, described at #3654

There is also a C++ example program called rs-gl that demonstrates using GLSL.

https://github.com/IntelRealSense/librealsense/tree/master/examples/gl

GLSL is 'vendor neutral', meaning that it should work with any brand of GPU. However, if the computing device has a low-end hardware specification then GLSL may not make a noticeable difference.

[sun-xm]

Thanks for the tips @MartyG-RealSense. Eventually I've implemented my own version with NEON and OpenMP. Now I can get 30 fps at 1280x720 with around 50% cpu occupation on RK3399.

[MartyG-RealSense]

Hi @sun-xm It's great to hear that you were able to achieve a solution. Thanks very much for the update!